Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus

1. An apparatus for gathering bales from a surface, the apparatus comprising:

a propulsion mechanism for propelling the apparatus, the propulsion mechanism being a dedicated propulsion system or a part of a pull vehicle that tows the vehicle;

a loading assembly for lifting a bale off the surface and onto the apparatus, the loading assembly comprising:

a first arm having a first roller;

a second arm having a second roller, wherein the first and second rollers are capable of rotating during operation to lift a bale from the surface;

a forward-looking sensor mounted on the apparatus to sense the bale prior to the apparatus contacting the bale, the sensor being a laser, camera or an acoustic sensor; and

a control system configured to alter a portion of the apparatus to lift a bale off the surface based on output from the forward-looking sensor, the portion being a hydraulic system that positions the arms.

2. The apparatus as set forth in claim 1 wherein the sensor is a laser.

3. The apparatus as set forth in claim 1 further comprising a chassis and a tongue pivotally connected to the chassis for connecting to a pull vehicle, the hydraulic system comprising a hydraulic cylinder connected to the tongue and chassis, the control system controlling the hydraulic cylinder to adjust an angle between the chassis and tongue.

4. The apparatus as set forth in claim 3 in combination with a pull vehicle.

5. The apparatus as set forth in claim 1 wherein the apparatus does not include a pull vehicle.

6. The apparatus as set forth in claim 1 wherein the first and second arms comprise rubber, PVC or a thermoplastic polymer to grasp the bale upon rotation.

7. The apparatus as set forth in claim 1 wherein the first and second arms each comprise a conveyor.

8. The apparatus as set forth in claim 7 wherein the conveyor is formed of rubber, PVC or a thermoplastic polymer.

9. The apparatus as set forth in claim 1 wherein the control system is configured to determine the position of the loading assembly relative to a bale.

10. The apparatus as set forth in claim 1 wherein the forward-looking sensor is configured to sense the edge of the bale in relation to at least a portion of the loading assembly.

11. The apparatus as set forth in claim 1 wherein the control system is configured to alter the hydraulic system to align the arms with a bale.

12. The apparatus as set forth in claim 1 wherein the propulsion mechanism is not altered based on output from the forward looking sensor.

13. The apparatus as set forth in claim 1 wherein the control system is configured to center the bale within the arms.

14. A method for pick-up of a bale resting on a surface by use of an apparatus, the apparatus being the apparatus of claim 1 , the method comprising:

propelling the apparatus toward a bale;

sensing a bale with the forward-looking sensor prior to the apparatus contacting the bale;

altering the apparatus for lifting a bale off the surface based on output from the forward-looking sensor; and

rotating the first and second rollers to load the sensed bale on the apparatus, the first and second arms each contacting a bale to lift the bale onto the apparatus, wherein propelling the apparatus toward a bale is not in response to the forward-looking sensor sensing the bale.

15. The method as set forth in claim 14 wherein the sensor is a laser.

16. The method as set forth claim 14 wherein the apparatus is attached to a pull vehicle for propelling the apparatus toward a bale, the pull vehicle being steered toward the bale by an operator.

17. The method as set forth in claim 14 wherein the apparatus is self-propelled.

18. The method as set forth in claim 14 wherein propelling the apparatus toward a bale comprises an operator steering the apparatus toward a bale.

19. The method as set forth in claim 14 wherein the control system determines the position of the loading assembly relative to a bale, the control system altering the position of the loading assembly based on output from the forward-looking sensor without propelling the whole apparatus toward the bale.

20. The method as set forth in claim 14 wherein the forward-looking sensor senses the edge of the bale.

21. An apparatus for gathering bales from a surface, the apparatus comprising:

a propulsion mechanism for propelling the apparatus, the propulsion mechanism being a dedicated propulsion system or a part of a pull vehicle that tows the vehicle;

a loading assembly for lifting a bale off the surface and onto the apparatus, the loading assembly comprising:

a first arm having a first roller;

a second arm having a second roller opposite the first roller, wherein the first and second rollers rotate during operation to lift a bale from the surface;

a forward-looking sensor mounted on the apparatus to sense an edge of the bale prior to the apparatus contacting the bale, the sensor being a laser, camera or an acoustic sensor; and

a control system configured to determine the position of the loading assembly relative to a bale and to alter a portion of the apparatus to lift the bale off the surface based on output from the forward-looking sensor, the portion being a hydraulic system that positions the arms.

22. The apparatus as set forth in claim 21 wherein the control system is configured to alter the hydraulic system to align the arms with a bale.

23. The apparatus as set forth in claim 21 further comprising a chassis and a tongue pivotally connected to the chassis for connecting the apparatus to a pull vehicle, the hydraulic system comprising a hydraulic cylinder connected to the tongue and chassis, the control system controlling the hydraulic cylinder to adjust an angle between the chassis and tongue.

24. The apparatus as set forth in claim 21 wherein the forward-looking sensor senses the edge of the bale in relation to a portion of the loading assembly.

25. The apparatus as set forth in claim 21 wherein the control system is configured to center the bale within the arms.